DE102018207198A1 - robot mastering - Google Patents

Abstract

An inventive method for adjusting at least one joint of a robot (1) comprises the steps:
- detecting (S20) a position of the joint;
- capturing (S30) an image having a first optical mark (11) disposed on a first member (1.i) of the robot and a second optical mark (21) attached to a second member (1. (i +1)) of the robot connected in the joint with the first member;
- determining (S40) an offset between the two optical marks based on the captured image; and
- Adjusting (S50) the joint based on the determined offset and the detected joint position.

Description

The present invention relates to a method and system for adjusting at least one joint of a robot as well as a computer program product for carrying out the method.

The adjustment of robots is carried out according to current practice by means of an electrical probe, which passes through a measuring notch and digitally transmits an interface proportional to the stroke of the probe measurement signal to a robot controller.

The object of the present invention is to improve a robot adjustment.

This object is achieved by a method having the features of claim 1. Claims 13, 14 protect a system or computer program product for carrying out a method described herein. The subclaims relate to advantageous developments.

1. a) Erfassen einer Stellung des (jeweiligen) Gelenks;
2. b) Aufnehmen eines Bildes mit einer ersten optischen Marke, die an einem ersten Glied des Roboters angeordnet ist, und einer zweiten optischen Marke, die an einem zweiten Glied des Roboters angeordnet ist, das in dem (jeweiligen) Gelenk mit dem ersten Glied verbunden ist;
3. c) Ermitteln eines Versatzes zwischen den beiden optischen Marken auf Basis des aufgenommenen Bildes; und
4. d) Justieren des (jeweiligen) Gelenks auf Basis bzw. in Abhängigkeit von dem ermittelten Versatz und der erfassten Gelenkstellung.

According to an embodiment of the present invention, a method for adjusting one or more joints of a robot (in each case or per joint) comprises the steps:

1. a) detecting a position of the (respective) joint;
2. b) capturing an image having a first optical mark disposed on a first member of the robot and a second optical mark disposed on a second member of the robot connected in the (respective) hinge to the first member ;
3. c) determining an offset between the two optical marks based on the captured image; and
4. d) adjusting the (respective) joint based on or in dependence on the determined offset and the detected joint position.

As a result, in one embodiment, the time and / or cost can be avoided by the (de) mounting the electrical probe.

In one embodiment, the robot has a multi-arm, in particular at least three, in one embodiment at least six, in particular at least seven-axis, robot arm; in particular, it can be one. The joint (s) is / are in one embodiment a swivel joint (s). The present invention can be used with particular advantage in such robots due to the required precision and / or their kinematic flexibility.

The (internal) position of the (respective) joint (internal joint position) in step a) is detected in an embodiment electrically, in particular electronically, in an embodiment by means of a joint-fixed or joint sensor. As a result, the position can be detected very precisely in one embodiment.

The adjustment of a joint can in particular comprise the determination and / or checking of an association between detected internal joint position or a measurement signal of the joint sensor and a pose of the robot or position of the two robot members relative to one another (external joint position). On the one hand, measuring sensors usually do not detect absolute internal joint positions and, on the other hand, a correlation between the internal joint position and the pose of the robot or the position of the two robot members relative to one another in an (ur) adjustment, for example due to changes in the two robot members, replacement of the measuring sensor or the like, can vary or be lost, in one embodiment, such an assignment is checked or optionally restored.

In one embodiment, the image is captured by means of a handheld device, in particular a smartphone, tablet or the like. Such handhelds are widely available, which can be reduced or avoided in one embodiment of additional equipment.

Additionally or alternatively, in one embodiment, the image is taken by means of a high-resolution camera (HD camera), in particular a, preferably integrated or built, camera of the handheld, which in one embodiment at least 1920 x 1080 pixels or "Full HD ") having. As a result, in one embodiment, the offset can be determined precisely and thus the precision of the robot adjustment can be improved.

Additionally or alternatively, in one embodiment, the image is taken with the aid of a macro objective which, in a further development, is fastened to the camera or the handheld so as to be non-destructively detachable, in particular attached, or is. As a result, in one embodiment, the offset, in particular with commercially available smartphone or tablet cameras or the like, can be precisely determined and thus the precision of the robot adjustment can be improved.

In one embodiment, the handheld or the camera is supported during recording of the image by means of a support on the robot, in particular the first and / or second member or the joint in which they are connected, in particular positive and / or frictional. The support is or non-destructively attached to the camera or handheld in a further development, in particular plugged. In this way, in one embodiment, the offset, in particular with portable smartphone or tablet cameras or the like, can be precisely determined and thus the precision of the robot adjustment can be improved.

Additionally or alternatively, in one embodiment, the two optical marks are illuminated when picking up the image by means of a, in particular electric, auxiliary light, in a further development with an integrated or built-in auxiliary light of the handheld or an auxiliary light which removably attached to the handheld nondestructive, in particular plugged is or is. As a result, in one embodiment, the offset, in particular also with a macro lens, can be determined precisely and thus the precision of the robot adjustment can be improved.

In one embodiment, the robot with the handheld (also) controlled, in particular programmed, or the handheld is set up for this purpose or is used for this purpose. As a result, an expenditure on equipment can be reduced in one embodiment.

In one embodiment, the handheld communicates for adjustment wirelessly or by wire with a controller, in particular a program handheld device (for controlling, in particular programming) of the robot. As a result, commercial smartphones, tablets or the like can be used in one embodiment without additional effort, with wireless communication can advantageously improve the freedom of movement of a user, a wired communication advantageous security.

In one embodiment, the method steps are carried out at least partially on or by the handheld and / or at least partially on or by the (robot) controller.

In one embodiment, a one-dimensional or multi-dimensional information for the adjustment ("adjustment information") is or is encoded in an optical symbol, the (respective) joint being adjusted on the basis of this adjustment information. The adjustment information can in one embodiment a joint number, an identification of the robot, a joint radius, in particular from a joint, in particular rotation axis to a joint surface or the mobile marks arranged thereon, and / or information of a primary or Urjustage, in particular a Justageoffset , an external hinge position and / or an offset between the mobile marks at the primary or Urjustage, or the like. As a result, in one embodiment, the security and / or precision of the adjustment can be improved.

In one embodiment, the symbol may have (for this) a barcode, QR code or the like, in particular be such or the adjustment information may be encoded as barcode, QR code or the like. In one embodiment, another image is taken with the optical symbol, in another embodiment, the captured image with the first and second optical marks also contains the optical symbol. As a result, in one embodiment, adjustment information can be easily (er) and / or reliably (er) made available.

In one embodiment, the symbol is (initially) at or after, in particular in response to, a primary adjustment made in an embodiment based on the first and second optical marks, in particular an offset between the two optical marks determined thereby, created and arranged on the robot, in particular the first or second member. As a result, in one embodiment, adjustment information can be easily (er) and / or reliably (er) made available.

In one embodiment, the first and / or second optical mark and / or the symbol are or are arranged cohesively on the robot, in particular as a sticker or the like. Additionally or alternatively, in one embodiment, the first and second optical marks are arranged together on the robot, in one embodiment by means of a, in particular transparent, transfer film, on which two stickers with the two optical marks are aligned, glued together on the robot and the Transfer film, which causes the alignment when sticking, then peeled off, as is known per se of self-adhesive lettering or the like. In one embodiment, the symbol is subsequently affixed to or next to one of these two stickers and / or secured or protected by means of a protective film pasted thereto. As a result, in one embodiment, the optical marks or the symbol can be advantageously arranged.

In one embodiment, the image having the first and second optical marks also includes an identification of a primary direction of movement or a (primary or positive) direction of movement of the joint ("directional mark"), wherein the joint is adjusted based on this directional mark. As a result, in one embodiment, the image, on the basis of which the offset is determined, is recorded in different, in particular arbitrary, orientations and thus the User-friendliness, safety and / or precision of the adjustment can be improved.

In one embodiment, the first mark and / or the second optical mark (in each case) has a calibration mark in at least two directions or dimensions (in each case), in particular elements with predetermined or known distances to each other, in one embodiment a raster or the like, especially a grid or the like. The distances of the elements or screening, in particular so a grid or box size are in one embodiment at most 1 mm.

Then, in one embodiment, an optical distortion of the captured image, which may result, in particular, from skewing of the camera or the like, is corrected based on the image of the calibration mark (s).

Additionally or alternatively, in one embodiment, an optical distortion of the captured image may be corrected based on the adjustment information, for example, due to the encoded hinge radius from which a corresponding curvature of the marks may depend, or the like.

As a result, in one embodiment, the security and / or precision of the adjustment can be improved.

In one embodiment, the offset between the two optical marks is determined based on an interpolation between (image) dots or pixels of the captured image, in an embodiment based on a regression of the image data. As a result, the offset in one embodiment can advantageously be determined precisely (r), in particular more precisely than a resolution of the recorded image.

• e) Anfahren einer Justagestellung des Gelenks auf Basis der Justage;
• f) Aufnehmen eines weiteren Bildes mit der ersten optischen Marke und der zweiten optischen Marke;
• g) Ermitteln eines Versatzes zwischen den beiden optischen Marken auf Basis des weiteren Bildes; und
• h) Prüfen der Justage des Gelenks auf Basis des ermittelten Versatzes.

In one embodiment, the method has the additional steps of:

• e) approaching an adjustment position of the joint based on the adjustment;
• f) taking another image with the first optical mark and the second optical mark;
• g) determining an offset between the two optical marks based on the further image; and
• h) Checking the adjustment of the joint based on the determined offset.

In one embodiment, the joint is thus coarse in two stages, in particular by means of manual control of the robot, as adjusted in the position detected in step a) that in step b) the (first) image of the two optical marks can be recorded. If the joint was then adjusted in step d), a predetermined adjustment position, in particular a primary or primary adjustment, can be approached in step e) on the basis of this adjustment, and in step h) the adjustment performed in step d) is based on the adjustment be checked for this offset. In one embodiment, this should correspond to the offset determined during the primary or original adjustment, so that the offset determined from the deviation of the adjustment currently or in the adjustment position approached in step e) (compared to the offset determined in the primary or original adjustment) Step d) performed adjustment can be assessed or this deviation can be used as a measure of quality of this adjustment.

In one embodiment, the joint position detected in step a) and / or the joint position approached in step e) are approached in a predetermined adjustment direction or movement direction or with a predetermined adjustment movement (directional) sense of the joint. As a result, in one embodiment, advantageously, a game influence can be reduced.

• - Mittel zum Erfassen einer Stellung des Gelenks;
• - Mittel zum Aufnehmen eines Bildes mit einer ersten optischen Marke, die an einem ersten Glied des Roboters angeordnet ist, und einer zweiten optischen Marke, die an einem zweiten Glied des Roboters angeordnet ist, das in dem Gelenk mit dem ersten Glied verbunden ist;
• - Mittel zum Ermitteln eines Versatzes zwischen den beiden optischen Marken auf Basis des aufgenommenen Bildes; und
• - Mittel zum Justieren des Gelenks auf Basis des ermittelten Versatzes und der erfassten Gelenkstellung.

According to one embodiment of the present invention, a system, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has:

• - means for detecting a position of the joint;
• - means for taking an image with a first optical mark disposed on a first member of the robot and a second optical mark disposed on a second member of the robot connected in the joint with the first member;
• - means for determining an offset between the two optical marks based on the captured image; and
• - means for adjusting the joint based on the determined offset and the detected joint position.

• - ein Handheld, insbesondere Smartphone oder Tablet, eine hochauflösende Kamera und/oder ein Makroobjektiv zum Aufnehmen des Bildes; und/oder
• - eine Stütze zum Abstützen des Handhelds bzw. der Kamera beim Aufnehmen des Bildes an dem Roboter, insbesondere an dem ersten und/oder zweiten Glied; und/oder
• - ein Hilfslicht zum Beleuchten der beiden optischen Marken beim Aufnehmen des Bildes; und/oder
• - eine (Roboter)Steuerung (zum Steuern) des Roboters, mit der das Handheld zur Justage drahtlos oder drahtgebunden kommuniziert bzw. signalverbunden ist; und/oder
• - Mittel zum Aufnehmen des einen bzw. eines weiteren Bildes mit einem optischen Symbol, wobei in dem Symbol eine Justageinformation kodiert ist und Mittel zum Justieren des Gelenks auf Basis der Justageinformation, insbesondere Mittel zum Kodieren einer Justageinformation in dem Symbol; und/oder
• - Mittel zum Erstellen des Symbols bei oder nach einer primären Justage und/oder zum Anordnen des Symbols bei oder nach einer primären Justage an dem Roboter, insbesondere dem ersten oder zweiten Glied; und/oder
• - Mittel zum Justieren des Gelenks auf Basis einer Richtungsmarkierung, die das Bild mit der ersten und zweiten optischen Marke auch enthält; und/oder
• - Mittel zum Korrigieren einer optischen Verzerrung des aufgenommenen Bildes auf Basis des Bildes einer Eichmarkierung in wenigstens zwei Richtungen, die die erste und/oder zweite optische Marke aufweist, und/oder der Justageinformation; und/oder
• - Mittel zum Anfahren der erfassten bzw. angefahrenen Gelenkstellung in einer vorgegebenen Justagerichtung; und/oder
• - Mittel zum Ermitteln des Versatzes zwischen den beiden optischen Marken auf Basis einer Interpolation zwischen Punkten des aufgenommenen Bildes; und/oder
• - Mittel zum Anfahren einer Justagestellung des Gelenks auf Basis der Justage;
• - Mittel zum Aufnehmen eines weiteren Bildes mit der ersten optischen Marke und der zweiten optischen Marke;
• - Mittel zum Ermitteln eines Versatzes zwischen den beiden optischen Marken auf Basis des weiteren Bildes; und
• - Mittel zum Prüfen der Justage des Gelenks auf Basis des ermittelten Versatzes.

In one embodiment, the system or its agent has:

• a handheld, in particular a smartphone or tablet, a high-resolution camera and / or a macro lens for taking the image; and or
• a support for supporting the handheld or the camera when taking the image on the robot, in particular on the first and / or second member; and or
• - an auxiliary light for illuminating the two optical marks when taking the image; and or
• a (robot) control (for controlling) of the robot with which the handheld communicates or is connected in a wired or wireless manner for adjustment; and or
• - Means for recording the one or another image with an optical symbol, wherein in the symbol an adjustment information is encoded and means for adjusting the joint based on the adjustment information, in particular means for encoding an adjustment information in the symbol; and or
• - means for creating the symbol during or after a primary adjustment and / or for arranging the symbol during or after a primary adjustment to the robot, in particular the first or second member; and or
• - Means for adjusting the joint based on a directional marker, which also contains the image with the first and second optical mark; and or
• - means for correcting optical distortion of the picked-up image based on the image of a calibration mark in at least two directions comprising the first and / or second optical marks and / or the adjustment information; and or
• - means for approaching the detected or approached joint position in a predetermined adjustment direction; and or
• Means for determining the offset between the two optical marks based on interpolation between points of the captured image; and or
• - means for approaching an adjustment position of the joint based on the adjustment;
• - means for capturing another image with the first optical mark and the second optical mark;
• - means for determining an offset between the two optical marks based on the further image; and
• - means for checking the adjustment of the joint based on the determined offset.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be arranged to embody or perform the methods described herein so that the CPU may perform the steps of such methods and, in particular, adjust and / or control the robot. In one embodiment, a computer program product may include, in particular, a non-volatile storage medium for storing a program or a program stored thereon, wherein execution of this program causes a system or a controller, in particular a computer, to do so method described herein or one or more of its steps.

In one embodiment, one or more, in particular all, steps of the method are completely or partially automated, in particular by the system or its (e) means. In one embodiment, the system includes the robot.

• 1: ein System zur Justage von Gelenken eines Roboters nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zur Justage eines Gelenks des Roboters nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

• 1 a system for adjusting joints of a robot according to an embodiment of the present invention; and
• 2 A method of adjusting a joint of the robot according to an embodiment of the present invention.

1 shows a system for adjusting joints of a robot 1 according to an embodiment of the present invention with a robot controller 2 and a handheld 30 with a built-in camera.

As shown by way of example only for one joint for a better overview, or are respectively at the two connected in a joint robot members 1.i . 1 . (i + 1) sticker 10 . 20 with a first and second optical mark in the form of meshes 11 respectively. 21 attached. On the one sticker 10 is also a direction marker 12 arranged.

For adjustment is or will be on the handheld 30 an essay 31 with a macro lens 32 and a plastic ring 33 plugged with the handheld 30 for taking pictures of the two optical Brands 11 . 21 at the respective first and second robot members 1.i . 1 . (i + 1) is supported.

In one step S5 (see. 2 ) of a primary adjustment, the robot is first driven after a small Ausholbewegung in a given adjustment direction in a predetermined Justagepose, in this the sticker 10 . 20 together by means of transfer film on the respective robot members (in 1 exemplary 1.i , 1. (i + 1)) glued, the robot before or subsequently measured, for example by means of precision measuring machines or the like, and from the determined during this survey external joint positions Q _{i, 0} and the internal joint positions detected in the adjustment pose by means of joint sensors q _{i, 0} an adjustment offset Δ _{i, 0} determines, in a simple example, Δ _1,0 = Q _{i, 0} - q _{i, 0} . In other words, an offset is added to measured internal joint positions to determine an actual external joint position. As already mentioned, this is purely exemplary; the adjustment offset can, for example, also be an adjustment offset of an absolutely precise adjustment or, instead of the external joint position, a pose of an end effector can be measured.

In addition, each with the handheld attached to the respective robot members 30 a picture of the two optical marks 11 . 21 recorded, an optical distortion of this image based on the image of the grids 11 . 21 corrected, and - regardless of orientation of the handheld 30 a signed offset x _{i, 0} between the two optical marks based on the captured image, this correction and the directional mark 12 determined.

The adjustment information that determines the external joint position determined in this survey Q _{i, 0} , the offset x _{i, 0} , a joint radius _i , the number of the joint and, if necessary, an identification number of the robot 1 contains, as a QR code 13 coded and this later on the sticker 10 appropriate.

In order to readjust the corresponding joint, according to an embodiment of the present invention in one step S10 the adjustment pose in the predetermined adjustment direction initially approached roughly coarse, in one step S20 by means of joint sensor the current internal joint position q _i captured and in one step S30 with the handheld attached to the corresponding robot members 30 a picture of the two optical marks 11 . 21 , the directional marker 12 and the QR code 13 recorded, an optical distortion of this image based on the image of the grids 11 . 21 corrected, and in one step S40 a current offset x _i between the two optical marks based on the captured image and this correction, again based on the recorded image of the direction marker 12 signed.

In addition, from the (picture of) the QR code (s) 13 read out the adjustment information. When shooting, the two optical marks with an auxiliary light 34 illuminated.

Then in one step S50 Based on this adjustment information, the detected internal joint position q _i and the determined offset x _i the joint can be adjusted.

/ R _i + Q _{i, 0} - In a simple example of this is by way of example a current Justageoffset Δ _i = ₍₀ x _i, x _i) - q _i determined. In other words, the current external joint position Q _i , the detected internal joint position q _i corresponds, based on the offset x _i which is determined based on the image taken with the camera and that in the QR code 13 coded adjustment information determined and the current adjustment offset Δ _i = Q _i - q _i determined.

In one step S60 is then based on this adjustment approached the adjustment pose (q _i = Q _i0 ) - Δ _i ), in one step S70 again with the handheld attached to the corresponding robot members 30 a picture of the two optical marks 11 . 21 , the directional marker 12 and the QR code 13 recorded, an optical distortion of this image based on the image of the grids 11 . 21 corrected, and in one step S80 a current offset x _i between the two optical marks signed on the basis of the recorded image, this correction and the direction marker 12 determined.

Then in one step S90 the adjustment of the joint can be checked, since now the current offset x _i the offset x _{i, 0} ) at the primary adjustment of the step S5 must accordingly.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

1

robot

1.i, 1. (i + 1)

robot element

2

robot control

10

sticker

11

Grid (optical mark)

12

direction mark

13

QR code (adjustment information symbol)

20

sticker

21

Grid (optical mark)

30

handheld

31

essay

32

Macro lens

33

Plastic ring (support)

34

auxiliary light

Claims (14)

Method for adjusting at least one joint of a robot (1), comprising the steps: a) detecting (S20) a position of the joint; b) taking (S30) an image with a first optical mark (11), which is arranged on a first member (1.i) of the robot, and a second optical mark (21), which on a second member (1. ( i + 1)) of the robot, which is connected in the joint with the first member; c) determining (S40) an offset between the two optical marks based on the captured image; and d) adjusting (S50) the joint based on the determined offset and the detected joint position. Method according to Claim 1 , characterized in that the image by means of a handheld device (30), in particular a smartphone or tablet, using a high-resolution camera and / or a macro lens (32) is recorded. Method according to the preceding claim, characterized in that the handheld or the camera when taking the image by means of a support (33) on the robot, in particular the first and / or second member is supported. Method according to one of the preceding claims, characterized in that the two optical marks are illuminated when recording the image by means of an auxiliary light (34). Method according to one of the preceding claims, characterized in that the robot is controllable with the handheld or communicates the handheld for adjustment wirelessly or by wire with a controller of the robot. Method according to one of the preceding claims, characterized in that a further image is recorded with an optical symbol or the image with the first and second optical mark also contains an optical symbol (13), wherein in the symbol an adjustment information is encoded and the joint is adjusted on the basis of the adjustment information. Method according to the preceding claim, characterized in that the symbol is created during or after a primary adjustment and arranged on the robot, in particular the first or second member. Method according to one of the preceding claims, characterized in that the image with the first and second optical mark also includes a directional mark (12) and the joint is adjusted based on the directional mark. Method according to one of the preceding claims, characterized in that the first and / or second optical mark has a calibration mark in at least two directions and an optical distortion of the recorded image is corrected on the basis of the image of the calibration mark and / or the adjustment information. Method according to one of the preceding claims, characterized in that the offset between the two optical marks is determined on the basis of an interpolation between points of the recorded image. Method according to one of the preceding claims, characterized by the steps of: e) starting (S60) an adjustment position of the joint on the basis of the adjustment; f) taking (S70) another picture with the first optical mark and the second optical mark; g) determining (S80) an offset between the two optical marks based on the further image; and h) checking (S90) the adjustment of the joint based on the determined offset. Method according to one of the preceding claims, characterized in that in step a) detected and / or the approached in step e) joint position is approached in a predetermined adjustment direction. System for adjusting at least one joint of a robot, which is set up for carrying out a method according to one of the preceding claims and / or comprising: - means for detecting a position of the joint; - means for capturing an image with a first optical mark (11) disposed on a first member (1.i) of the robot and a second optical mark (21) attached to a second member (1. (i + 1)) of the robot, which is connected in the joint with the first member; - means for determining an offset between the two optical marks based on the captured image; and - means for adjusting the joint based on the determined offset and the detected joint position. A computer program product having a program code stored on a computer-readable medium for performing a method according to any one of the preceding claims.

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